version: 66.02
glider: 16
mission: 6
dive: 291
start: 1 8 108 16 53 20
data:
$ID,16
$MISSION,6
$DIVE,291
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,566.1524
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2083681.9
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,164738,6246.700,-602.848,32,1.8,32,-8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.5
$GPS2,165227,6246.694,-602.841,14,1.8,14,-8.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,N_ADCP
$TGT_LATLONG,6247.440,-604.422
$TGT_RADIUS,1.000
$KALMAN_CONTROL,0.053,0.215
$KALMAN_X,43467.3,337.2,443.1,116542.8,-12806.3
$KALMAN_Y,57005.2,1396.7,714.0,67648.5,-44566.1
$MHEAD_RNG_PITCHd_Wd,323.9,1924,-27.3,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.74,-28.8,0.0,0.0,0,125,0.00,0.00,-96.60,0.000,6,0.000,0.000,69,2405,2935
$GC,128,-1.77,-54.1,3.2,-2.5,5,150,11.15,2.75,-2.88,0.000,4,0.177,0.085,2019,986,3039
$GC,376,-1.77,-54.1,39.1,-13.6,16,381,0.00,2.65,0.00,0.000,6,0.000,0.067,2019,2399,3040
$GC,702,-1.77,-54.1,90.7,-16.3,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2399,3040
$GC,1011,-1.77,-54.1,136.7,-15.0,47,1016,0.00,2.62,0.00,0.000,4,0.000,0.081,2019,3767,3040
$GC,1067,-1.77,-54.1,145.9,-17.0,49,1073,0.00,2.55,0.00,0.000,6,0.000,0.061,2019,2398,3040
$GC,1382,-1.77,-54.1,192.2,-14.4,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2397,3040
$GC,1691,-1.77,-54.1,237.0,-14.3,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2397,3040
$GC,2001,-1.77,-54.1,280.7,-14.2,95,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2397,3040
$GC,2311,-1.77,-54.1,325.0,-14.2,110,2315,0.00,2.65,0.00,0.000,4,0.000,0.084,2019,3769,3040
$GC,2372,-1.77,-54.1,334.4,-15.3,113,2376,0.00,2.58,0.00,0.000,6,0.000,0.064,2019,2396,3040
$GC,2698,-1.77,-54.1,379.4,-13.7,129,2702,0.00,2.65,0.00,0.000,4,0.000,0.085,2020,3769,3040
$GC,2752,-1.77,-54.1,387.5,-14.5,131,2759,0.00,2.55,0.00,0.000,6,0.000,0.064,2019,2400,3040
$GC,3068,-1.77,-54.1,426.6,-12.2,147,3072,0.00,2.65,0.00,0.000,4,0.000,0.087,2019,3767,3041
$STATE,3105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3105,begin apogee
$GC,3114,-0.31,0.0,431.9,13.5,149,3167,1.65,0.00,46.05,0.963,6,0.127,0.000,2336,2203,2816
$STATE,3168,end apogee,CONTROL_FINISHED_OK
$STATE,3168,begin climb
$GC,3170,1.77,54.1,435.2,0.0,152,3225,2.10,2.83,44.42,0.944,4,0.070,0.072,2794,778,2596
$GC,3265,1.77,57.5,431.2,5.5,156,3276,0.00,2.62,4.57,0.647,6,0.000,0.054,2794,2200,2582
$GC,3585,1.78,67.4,415.2,4.6,172,3600,0.00,2.78,9.57,0.824,4,0.000,0.084,2794,3616,2542
$GC,3852,1.78,67.4,399.0,7.1,183,3857,0.00,2.72,0.00,0.000,6,0.000,0.071,2794,2192,2541
$GC,4173,1.78,72.1,381.2,5.4,199,4184,0.00,2.80,5.50,0.703,4,0.000,0.086,2794,3619,2523
$GC,4437,1.78,72.1,362.5,7.2,211,4442,0.00,2.70,0.00,0.000,6,0.000,0.072,2794,2201,2521
$GC,4764,1.78,72.1,339.3,7.2,227,4768,0.00,2.75,0.00,0.000,4,0.000,0.085,2794,3617,2521
$GC,5020,1.78,72.1,320.4,6.6,238,5027,0.00,2.70,0.00,0.000,6,0.000,0.071,2794,2200,2521
$GC,5336,1.78,72.1,298.9,7.0,254,5340,0.00,2.72,0.00,0.000,4,0.000,0.085,2794,3623,2520
$GC,5594,1.78,72.1,278.3,8.5,265,5600,0.00,2.70,0.00,0.000,6,0.000,0.070,2794,2192,2520
$GC,5909,1.78,72.1,254.3,7.9,281,5914,0.00,2.75,0.00,0.000,4,0.000,0.083,2794,3622,2520
$GC,6128,1.78,72.1,234.6,8.8,291,6133,0.00,2.70,0.00,0.000,6,0.000,0.070,2794,2195,2520
$GC,6454,1.78,72.1,207.0,8.2,307,6458,0.00,2.72,0.00,0.000,4,0.000,0.081,2794,3619,2520
$GC,6583,1.78,72.1,196.0,9.0,313,6587,0.00,2.67,0.00,0.000,6,0.000,0.068,2794,2199,2520
$GC,6908,1.78,72.1,169.1,8.3,329,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2199,2520
$GC,7219,1.78,72.1,142.6,8.5,344,7223,0.00,2.70,0.00,0.000,4,0.000,0.080,2794,3616,2520
$GC,7475,1.78,72.1,121.4,7.7,355,7482,0.00,2.65,0.00,0.000,6,0.000,0.066,2794,2198,2520
$GC,7792,1.78,72.1,101.1,6.5,371,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2198,2520
$GC,8102,1.78,72.1,80.1,7.2,386,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2198,2520
$GC,8410,1.78,72.1,58.1,7.5,401,8414,0.00,2.70,0.00,0.000,4,0.000,0.080,2794,3618,2520
$GC,8549,1.78,72.1,46.6,7.3,407,8554,0.00,2.65,0.00,0.000,6,0.000,0.067,2794,2196,2520
$GC,8866,1.78,72.1,22.0,6.9,422,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2196,2520
$STATE,9172,end climb,SURFACE_DEPTH_REACHED
$STATE,9172,begin surface coast
$FINISH,0.6,1.027440
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9194,begin surface
$SM_CCo,9216,286.10,0.658,3,0,509,566.15
$SM_GC,1.15,0.00,0.00,286.10,0.000,0.000,0.658,70,2405,509,-10.76,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2021
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,401.5,40.1
$24V_AH,23.6,49.162
$10V_AH,10.2,24.801
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.225,75.900,110.125,286.100,0.000,32.645,34.479,122.869,3.500,0.000,0.000,14.075,889.281,6763.073,573.542,1250.507,340.430,33.365,1163.193,0.000,1223.542,0.000,24.620
$DEVICE_MAMPS,177.177,86.671,962.585,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,313.693,307.620,354.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22233,438
$CFSIZE,260165632,242634752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
$GPS,080108,193308,6247.192,-603.158,34,1.9,34,-8.0